This is code to make a turtlebot explore a small, room-sized area using the move_base
and gmapping
nodes available online.
A video of this code working can be found here.
In order to run this, first start up the code on the robot:
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation gmapping_demo.launch
and then launch our code:
roslaunch rbe3002_final turtlebot_no_drive.launch
and, if you want to run rviz at the same time, run
rosrun rviz rviz -d rbe3002_final/rviz/rviz.rviz